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<title>Doxygen: pcl::HarrisKeypoint2D&lt; PointInT, PointOutT, IntensityT &gt; 模板类 参考</title>
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<div class="header">
  <div class="summary">
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
<a href="#pri-methods">Private 成员函数</a> &#124;
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<a href="classpcl_1_1_harris_keypoint2_d-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::HarrisKeypoint2D&lt; PointInT, PointOutT, IntensityT &gt; 模板类 参考</div>  </div>
</div><!--header-->
<div class="contents">

<p><a class="el" href="classpcl_1_1_harris_keypoint2_d.html" title="HarrisKeypoint2D detects Harris corners family points">HarrisKeypoint2D</a> detects Harris corners family points  
 <a href="classpcl_1_1_harris_keypoint2_d.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="harris__2d_8h_source.html">harris_2d.h</a>&gt;</code></p>
<div class="dynheader">
类 pcl::HarrisKeypoint2D&lt; PointInT, PointOutT, IntensityT &gt; 继承关系图:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classpcl_1_1_harris_keypoint2_d.png" usemap="#pcl::HarrisKeypoint2D_3C_20PointInT_2C_20PointOutT_2C_20IntensityT_20_3E_map" alt=""/>
  <map id="pcl::HarrisKeypoint2D_3C_20PointInT_2C_20PointOutT_2C_20IntensityT_20_3E_map" name="pcl::HarrisKeypoint2D_3C_20PointInT_2C_20PointOutT_2C_20IntensityT_20_3E_map">
<area href="classpcl_1_1_keypoint.html" title="Keypoint represents the base class for key points." alt="pcl::Keypoint&lt; PointInT, PointOutT &gt;" shape="rect" coords="0,56,330,80"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a2e567bec4ce62fa55b83ed539cde847b"><td class="memItemLeft" align="right" valign="top"><a id="a2e567bec4ce62fa55b83ed539cde847b"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>ResponseMethod</b> { <b>HARRIS</b> = 1
, <b>NOBLE</b>
, <b>LOWE</b>
, <b>TOMASI</b>
 }</td></tr>
<tr class="separator:a2e567bec4ce62fa55b83ed539cde847b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6380bd06e4ea7d74aaf7219c5fe96408"><td class="memItemLeft" align="right" valign="top"><a id="a6380bd06e4ea7d74aaf7219c5fe96408"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_harris_keypoint2_d.html">HarrisKeypoint2D</a>&lt; PointInT, PointOutT, IntensityT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a6380bd06e4ea7d74aaf7219c5fe96408"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa4b5401ad22e83e03954e9b35bf5e83c"><td class="memItemLeft" align="right" valign="top"><a id="aa4b5401ad22e83e03954e9b35bf5e83c"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_harris_keypoint2_d.html">HarrisKeypoint2D</a>&lt; PointInT, PointOutT, IntensityT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt; PointInT, PointOutT &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudIn</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt; PointInT, PointOutT &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudOut</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt; PointInT, PointOutT &gt;::<a class="el" href="classpcl_1_1search_1_1_search.html">KdTree</a>&#160;</td><td class="memItemRight" valign="bottom"><b>KdTree</b></td></tr>
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typedef PointCloudIn::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInConstPtr</b></td></tr>
<tr class="separator:a3a111fb7857ffcdd59a102f01fdbd954"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1_keypoint"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_keypoint')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_keypoint.html">pcl::Keypoint&lt; PointInT, PointOutT &gt;</a></td></tr>
<tr class="memitem:ad0fa140c6038e3708a7ef652e5c74caa inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="ad0fa140c6038e3708a7ef652e5c74caa"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt; PointInT, PointOutT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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<tr class="memitem:ab6d8033d4e3165919da69c0dfeecb8ae inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="ab6d8033d4e3165919da69c0dfeecb8ae"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt; PointInT, PointOutT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BaseClass</b></td></tr>
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typedef <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>KdTree</b></td></tr>
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typedef <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; PointInT &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>KdTreePtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudIn</b></td></tr>
<tr class="separator:ac291ff32e78639931cab1113e69a456b inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
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typedef PointCloudIn::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInPtr</b></td></tr>
<tr class="separator:a2e0ec17665234d8f2c30a143222a8eee inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
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typedef PointCloudIn::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointOutT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudOut</b></td></tr>
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typedef boost::function&lt; int(int, double, std::vector&lt; int &gt; &amp;, std::vector&lt; float &gt; &amp;)&gt;&#160;</td><td class="memItemRight" valign="bottom"><b>SearchMethod</b></td></tr>
<tr class="separator:a25a67ec1b8bee8532d9e0947164d44ba inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac58660587c72beaf0068c4f4656484e6 inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="ac58660587c72beaf0068c4f4656484e6"></a>
typedef boost::function&lt; int(const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;cloud, int index, double, std::vector&lt; int &gt; &amp;, std::vector&lt; float &gt; &amp;)&gt;&#160;</td><td class="memItemRight" valign="bottom"><b>SearchMethodSurface</b></td></tr>
<tr class="separator:ac58660587c72beaf0068c4f4656484e6 inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae2f6f6863a73337858b7a7a054eaae4f"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
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<tr class="memitem:a51771056fb4ab8c448a11157acbe2ee0 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a51771056fb4ab8c448a11157acbe2ee0"></a>
typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a253ac013906ccc19917d8bec63c3598b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#a253ac013906ccc19917d8bec63c3598b">HarrisKeypoint2D</a> (ResponseMethod method=HARRIS, int window_width=3, int window_height=3, int min_distance=5, float threshold=0.0)</td></tr>
<tr class="memdesc:a253ac013906ccc19917d8bec63c3598b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor  <a href="classpcl_1_1_harris_keypoint2_d.html#a253ac013906ccc19917d8bec63c3598b">更多...</a><br /></td></tr>
<tr class="separator:a253ac013906ccc19917d8bec63c3598b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a91d7fef58256748302ba05a9e724ddf7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#a91d7fef58256748302ba05a9e724ddf7">setMethod</a> (ResponseMethod type)</td></tr>
<tr class="memdesc:a91d7fef58256748302ba05a9e724ddf7"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the method of the response to be calculated.  <a href="classpcl_1_1_harris_keypoint2_d.html#a91d7fef58256748302ba05a9e724ddf7">更多...</a><br /></td></tr>
<tr class="separator:a91d7fef58256748302ba05a9e724ddf7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae0587a8ce30ef1d36eb84e77e417680d"><td class="memItemLeft" align="right" valign="top"><a id="ae0587a8ce30ef1d36eb84e77e417680d"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#ae0587a8ce30ef1d36eb84e77e417680d">setWindowWidth</a> (int window_width)</td></tr>
<tr class="memdesc:ae0587a8ce30ef1d36eb84e77e417680d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set window width <br /></td></tr>
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<tr class="memitem:aa365f4785c8027780bb86a25f7996ff6"><td class="memItemLeft" align="right" valign="top"><a id="aa365f4785c8027780bb86a25f7996ff6"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#aa365f4785c8027780bb86a25f7996ff6">setWindowHeight</a> (int window_height)</td></tr>
<tr class="memdesc:aa365f4785c8027780bb86a25f7996ff6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set window height <br /></td></tr>
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<tr class="memitem:a485e82af9c31d2babf6b3ff3f184cce1"><td class="memItemLeft" align="right" valign="top"><a id="a485e82af9c31d2babf6b3ff3f184cce1"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#a485e82af9c31d2babf6b3ff3f184cce1">setSkippedPixels</a> (int skipped_pixels)</td></tr>
<tr class="memdesc:a485e82af9c31d2babf6b3ff3f184cce1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set number of pixels to skip <br /></td></tr>
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<tr class="memitem:a90e3f17bc44a4afee50678d522f9603b"><td class="memItemLeft" align="right" valign="top"><a id="a90e3f17bc44a4afee50678d522f9603b"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#a90e3f17bc44a4afee50678d522f9603b">setMinimalDistance</a> (int min_distance)</td></tr>
<tr class="memdesc:a90e3f17bc44a4afee50678d522f9603b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set minimal distance between candidate keypoints <br /></td></tr>
<tr class="separator:a90e3f17bc44a4afee50678d522f9603b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac8c72d04eca58d9c035c735f556efcbb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#ac8c72d04eca58d9c035c735f556efcbb">setThreshold</a> (float threshold)</td></tr>
<tr class="memdesc:ac8c72d04eca58d9c035c735f556efcbb"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the threshold value for detecting corners. This is only evaluated if non maxima suppression is turned on.  <a href="classpcl_1_1_harris_keypoint2_d.html#ac8c72d04eca58d9c035c735f556efcbb">更多...</a><br /></td></tr>
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<tr class="memitem:a22dab1af5e082f9ac938ceb3ac90ac39"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#a22dab1af5e082f9ac938ceb3ac90ac39">setNonMaxSupression</a> (bool=false)</td></tr>
<tr class="memdesc:a22dab1af5e082f9ac938ceb3ac90ac39"><td class="mdescLeft">&#160;</td><td class="mdescRight">whether non maxima suppression should be applied or the response for each point should be returned  <a href="classpcl_1_1_harris_keypoint2_d.html#a22dab1af5e082f9ac938ceb3ac90ac39">更多...</a><br /></td></tr>
<tr class="separator:a22dab1af5e082f9ac938ceb3ac90ac39"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a780a13a832c455e0f8e5d4c81df9bb0d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#a780a13a832c455e0f8e5d4c81df9bb0d">setRefine</a> (bool do_refine)</td></tr>
<tr class="memdesc:a780a13a832c455e0f8e5d4c81df9bb0d"><td class="mdescLeft">&#160;</td><td class="mdescRight">whether the detected key points should be refined or not. If turned of, the key points are a subset of the original point cloud. Otherwise the key points may be arbitrary.  <a href="classpcl_1_1_harris_keypoint2_d.html#a780a13a832c455e0f8e5d4c81df9bb0d">更多...</a><br /></td></tr>
<tr class="separator:a780a13a832c455e0f8e5d4c81df9bb0d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a09be8c7b4d38db15cf67dd1f22304c9e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#a09be8c7b4d38db15cf67dd1f22304c9e">setNumberOfThreads</a> (unsigned int nr_threads=0)</td></tr>
<tr class="memdesc:a09be8c7b4d38db15cf67dd1f22304c9e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize the scheduler and set the number of threads to use.  <a href="classpcl_1_1_harris_keypoint2_d.html#a09be8c7b4d38db15cf67dd1f22304c9e">更多...</a><br /></td></tr>
<tr class="separator:a09be8c7b4d38db15cf67dd1f22304c9e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_keypoint"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_keypoint')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_keypoint.html">pcl::Keypoint&lt; PointInT, PointOutT &gt;</a></td></tr>
<tr class="memitem:ab968a8e4e03374f001f2ad32f71c19f6 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="ab968a8e4e03374f001f2ad32f71c19f6"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>harrisCorner</b> (ImageType &amp;output, ImageType &amp;input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)</td></tr>
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<tr class="memitem:a2093e733ffdbeec61011da572f7c1621 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a2093e733ffdbeec61011da572f7c1621"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>hessianBlob</b> (ImageType &amp;output, ImageType &amp;input, const float sigma, bool SCALE)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>hessianBlob</b> (ImageType &amp;output, ImageType &amp;input, const float start_scale, const float scaling_factor, const int num_scales)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>imageElementMultiply</b> (ImageType &amp;output, ImageType &amp;input1, ImageType &amp;input2)</td></tr>
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<tr class="memitem:a06d5bf39feac19b1d5dfa0a3e87caea9 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a06d5bf39feac19b1d5dfa0a3e87caea9"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a06d5bf39feac19b1d5dfa0a3e87caea9">Keypoint</a> ()</td></tr>
<tr class="memdesc:a06d5bf39feac19b1d5dfa0a3e87caea9 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:abc3023e139444291b4d155553369b0bd inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="abc3023e139444291b4d155553369b0bd"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#abc3023e139444291b4d155553369b0bd">~Keypoint</a> ()</td></tr>
<tr class="memdesc:abc3023e139444291b4d155553369b0bd inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
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<tr class="memitem:a9dbce2da2ea97dcb4f5635df33a129c9 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a9dbce2da2ea97dcb4f5635df33a129c9">setSearchSurface</a> (const PointCloudInConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a9dbce2da2ea97dcb4f5635df33a129c9 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset that we need to estimate features at every point for.  <a href="classpcl_1_1_keypoint.html#a9dbce2da2ea97dcb4f5635df33a129c9">更多...</a><br /></td></tr>
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<tr class="memitem:aa7b3aa0078d09857ed7afbee6b00e07b inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="aa7b3aa0078d09857ed7afbee6b00e07b"></a>
PointCloudInConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#aa7b3aa0078d09857ed7afbee6b00e07b">getSearchSurface</a> ()</td></tr>
<tr class="memdesc:aa7b3aa0078d09857ed7afbee6b00e07b inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the surface point cloud dataset. <br /></td></tr>
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<tr class="memitem:a153d731738fd5966e169e26b61013689 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a153d731738fd5966e169e26b61013689">setSearchMethod</a> (const KdTreePtr &amp;tree)</td></tr>
<tr class="memdesc:a153d731738fd5966e169e26b61013689 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the search object.  <a href="classpcl_1_1_keypoint.html#a153d731738fd5966e169e26b61013689">更多...</a><br /></td></tr>
<tr class="separator:a153d731738fd5966e169e26b61013689 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9c5fa8a8d95367a21111efe0b197a3c9 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a9c5fa8a8d95367a21111efe0b197a3c9"></a>
KdTreePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a9c5fa8a8d95367a21111efe0b197a3c9">getSearchMethod</a> ()</td></tr>
<tr class="memdesc:a9c5fa8a8d95367a21111efe0b197a3c9 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the search method used. <br /></td></tr>
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<tr class="memitem:addd331bafa986670ef416554728bd6a4 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="addd331bafa986670ef416554728bd6a4"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#addd331bafa986670ef416554728bd6a4">getSearchParameter</a> ()</td></tr>
<tr class="memdesc:addd331bafa986670ef416554728bd6a4 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the internal search parameter. <br /></td></tr>
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<tr class="memitem:a4de1c1a1545be786c12ec36fea4008df inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a4de1c1a1545be786c12ec36fea4008df">setKSearch</a> (int k)</td></tr>
<tr class="memdesc:a4de1c1a1545be786c12ec36fea4008df inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of k nearest neighbors to use for the feature estimation.  <a href="classpcl_1_1_keypoint.html#a4de1c1a1545be786c12ec36fea4008df">更多...</a><br /></td></tr>
<tr class="separator:a4de1c1a1545be786c12ec36fea4008df inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9a337c89ee7ce0816b8a677b5d538592 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a9a337c89ee7ce0816b8a677b5d538592"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a9a337c89ee7ce0816b8a677b5d538592">getKSearch</a> ()</td></tr>
<tr class="memdesc:a9a337c89ee7ce0816b8a677b5d538592 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the number of k nearest neighbors used for the feature estimation. <br /></td></tr>
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<tr class="memitem:acb901dd8879ee9a34b3a87d1cb6d6a37 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#acb901dd8879ee9a34b3a87d1cb6d6a37">setRadiusSearch</a> (double radius)</td></tr>
<tr class="memdesc:acb901dd8879ee9a34b3a87d1cb6d6a37 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection  <a href="classpcl_1_1_keypoint.html#acb901dd8879ee9a34b3a87d1cb6d6a37">更多...</a><br /></td></tr>
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<tr class="memitem:a9b6fb2953dc9be88c74d95c8446937bb inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a9b6fb2953dc9be88c74d95c8446937bb"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a9b6fb2953dc9be88c74d95c8446937bb">getRadiusSearch</a> ()</td></tr>
<tr class="memdesc:a9b6fb2953dc9be88c74d95c8446937bb inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the sphere radius used for determining the neighbors. <br /></td></tr>
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<tr class="memitem:a3ead3b82282115d4b7e400daee213c2d inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">pcl::PointIndicesConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a3ead3b82282115d4b7e400daee213c2d">getKeypointsIndices</a> ()</td></tr>
<tr class="separator:a3ead3b82282115d4b7e400daee213c2d inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a046a7cd11598b06d2076da69a3100e4b inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a046a7cd11598b06d2076da69a3100e4b">compute</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</td></tr>
<tr class="memdesc:a046a7cd11598b06d2076da69a3100e4b inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base method for key point detection for all points given in &lt;setInputCloud (), setIndices ()&gt; using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()  <a href="classpcl_1_1_keypoint.html#a046a7cd11598b06d2076da69a3100e4b">更多...</a><br /></td></tr>
<tr class="separator:a046a7cd11598b06d2076da69a3100e4b inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa327f241d246cec23ca531261f60da3f inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#aa327f241d246cec23ca531261f60da3f">searchForNeighbors</a> (int index, double parameter, std::vector&lt; int &gt; &amp;indices, std::vector&lt; float &gt; &amp;distances) const</td></tr>
<tr class="memdesc:aa327f241d246cec23ca531261f60da3f inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Search for k-nearest neighbors using the spatial locator from <em>setSearchmethod</em>, and the given surface from <em>setSearchSurface</em>.  <a href="classpcl_1_1_keypoint.html#aa327f241d246cec23ca531261f60da3f">更多...</a><br /></td></tr>
<tr class="separator:aa327f241d246cec23ca531261f60da3f inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
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<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
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<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
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<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
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<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
<tr class="separator:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
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<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
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<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const PointInT &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override PointCloud operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
<tr class="separator:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:af62c9154d7714321b02c140f93986065"><td class="memItemLeft" align="right" valign="top"><a id="af62c9154d7714321b02c140f93986065"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>initCompute</b> ()</td></tr>
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<tr class="memitem:aaec7c58804fae6fd9fef784681bd1e25"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#aaec7c58804fae6fd9fef784681bd1e25">detectKeypoints</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</td></tr>
<tr class="memdesc:aaec7c58804fae6fd9fef784681bd1e25"><td class="mdescLeft">&#160;</td><td class="mdescRight">Abstract key point detection method.  <a href="classpcl_1_1_harris_keypoint2_d.html#aaec7c58804fae6fd9fef784681bd1e25">更多...</a><br /></td></tr>
<tr class="separator:aaec7c58804fae6fd9fef784681bd1e25"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa5c0370a076cc2fd98a9df58fee1a2ad"><td class="memItemLeft" align="right" valign="top"><a id="aa5c0370a076cc2fd98a9df58fee1a2ad"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#aa5c0370a076cc2fd98a9df58fee1a2ad">responseHarris</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output) const</td></tr>
<tr class="memdesc:aa5c0370a076cc2fd98a9df58fee1a2ad"><td class="mdescLeft">&#160;</td><td class="mdescRight">gets the corner response for valid input points <br /></td></tr>
<tr class="separator:aa5c0370a076cc2fd98a9df58fee1a2ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a86a5cf208e39a3226233595e74883efd"><td class="memItemLeft" align="right" valign="top"><a id="a86a5cf208e39a3226233595e74883efd"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>responseNoble</b> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output) const</td></tr>
<tr class="separator:a86a5cf208e39a3226233595e74883efd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a64d837c8b58c4773f60f7bb5036c82c1"><td class="memItemLeft" align="right" valign="top"><a id="a64d837c8b58c4773f60f7bb5036c82c1"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>responseLowe</b> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output) const</td></tr>
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<tr class="memitem:a6288dc24c2e0ed30859bdd18faae1028"><td class="memItemLeft" align="right" valign="top"><a id="a6288dc24c2e0ed30859bdd18faae1028"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>responseTomasi</b> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output) const</td></tr>
<tr class="separator:a6288dc24c2e0ed30859bdd18faae1028"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa1439eafe3edf60c1227975d1489db15"><td class="memItemLeft" align="right" valign="top"><a id="aa1439eafe3edf60c1227975d1489db15"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#aa1439eafe3edf60c1227975d1489db15">computeSecondMomentMatrix</a> (std::size_t pos, float *coefficients) const</td></tr>
<tr class="memdesc:aa1439eafe3edf60c1227975d1489db15"><td class="mdescLeft">&#160;</td><td class="mdescRight">calculates the upper triangular part of unnormalized covariance matrix over intensities given by the 2D coordinates and window_width_ and window_height_ <br /></td></tr>
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<tr class="inherit_header pro_methods_classpcl_1_1_keypoint"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_keypoint')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_keypoint.html">pcl::Keypoint&lt; PointInT, PointOutT &gt;</a></td></tr>
<tr class="memitem:af2dd9244731bfd903ce4aa73efb996eb inherit pro_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="af2dd9244731bfd903ce4aa73efb996eb"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#af2dd9244731bfd903ce4aa73efb996eb">getClassName</a> () const</td></tr>
<tr class="memdesc:af2dd9244731bfd903ce4aa73efb996eb inherit pro_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:af2dd9244731bfd903ce4aa73efb996eb inherit pro_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
<tr class="separator:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:ab69e5e33cfd310bc7df6b1d8f0669215"><td class="memItemLeft" align="right" valign="top"><a id="ab69e5e33cfd310bc7df6b1d8f0669215"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#ab69e5e33cfd310bc7df6b1d8f0669215">threshold_</a></td></tr>
<tr class="memdesc:ab69e5e33cfd310bc7df6b1d8f0669215"><td class="mdescLeft">&#160;</td><td class="mdescRight">threshold for non maxima suppression <br /></td></tr>
<tr class="separator:ab69e5e33cfd310bc7df6b1d8f0669215"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afd717f291207e72a70f0b40eb9efdb2e"><td class="memItemLeft" align="right" valign="top"><a id="afd717f291207e72a70f0b40eb9efdb2e"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#afd717f291207e72a70f0b40eb9efdb2e">refine_</a></td></tr>
<tr class="memdesc:afd717f291207e72a70f0b40eb9efdb2e"><td class="mdescLeft">&#160;</td><td class="mdescRight">corner refinement <br /></td></tr>
<tr class="separator:afd717f291207e72a70f0b40eb9efdb2e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aae6c31094a9f3d5e3a2b0d5458b2694c"><td class="memItemLeft" align="right" valign="top"><a id="aae6c31094a9f3d5e3a2b0d5458b2694c"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#aae6c31094a9f3d5e3a2b0d5458b2694c">nonmax_</a></td></tr>
<tr class="memdesc:aae6c31094a9f3d5e3a2b0d5458b2694c"><td class="mdescLeft">&#160;</td><td class="mdescRight">non maximas suppression <br /></td></tr>
<tr class="separator:aae6c31094a9f3d5e3a2b0d5458b2694c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1f5da154b775b2d0c47a958f7847e0a1"><td class="memItemLeft" align="right" valign="top"><a id="a1f5da154b775b2d0c47a958f7847e0a1"></a>
ResponseMethod&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#a1f5da154b775b2d0c47a958f7847e0a1">method_</a></td></tr>
<tr class="memdesc:a1f5da154b775b2d0c47a958f7847e0a1"><td class="mdescLeft">&#160;</td><td class="mdescRight">cornerness computation methode <br /></td></tr>
<tr class="separator:a1f5da154b775b2d0c47a958f7847e0a1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a005f27db4a1f4f03d9606c87c4269ac6"><td class="memItemLeft" align="right" valign="top"><a id="a005f27db4a1f4f03d9606c87c4269ac6"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#a005f27db4a1f4f03d9606c87c4269ac6">threads_</a></td></tr>
<tr class="memdesc:a005f27db4a1f4f03d9606c87c4269ac6"><td class="mdescLeft">&#160;</td><td class="mdescRight">number of threads to be used <br /></td></tr>
<tr class="separator:a005f27db4a1f4f03d9606c87c4269ac6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_keypoint"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_keypoint')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_keypoint.html">pcl::Keypoint&lt; PointInT, PointOutT &gt;</a></td></tr>
<tr class="memitem:aef5710b81d66e6d429a9dfeb41d606ff inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="aef5710b81d66e6d429a9dfeb41d606ff"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a></td></tr>
<tr class="memdesc:aef5710b81d66e6d429a9dfeb41d606ff inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The key point detection method's name. <br /></td></tr>
<tr class="separator:aef5710b81d66e6d429a9dfeb41d606ff inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa2ee2830db93620925b82bf6b8ffea63 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="aa2ee2830db93620925b82bf6b8ffea63"></a>
SearchMethod&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#aa2ee2830db93620925b82bf6b8ffea63">search_method_</a></td></tr>
<tr class="memdesc:aa2ee2830db93620925b82bf6b8ffea63 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The search method template for indices. <br /></td></tr>
<tr class="separator:aa2ee2830db93620925b82bf6b8ffea63 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a642e18edc66cffd15266bf9e7bf20bec inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a642e18edc66cffd15266bf9e7bf20bec"></a>
SearchMethodSurface&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a642e18edc66cffd15266bf9e7bf20bec">search_method_surface_</a></td></tr>
<tr class="memdesc:a642e18edc66cffd15266bf9e7bf20bec inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The search method template for points. <br /></td></tr>
<tr class="separator:a642e18edc66cffd15266bf9e7bf20bec inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1998c46514f3f8d8d7665f6b505ca389 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a1998c46514f3f8d8d7665f6b505ca389"></a>
PointCloudInConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a1998c46514f3f8d8d7665f6b505ca389">surface_</a></td></tr>
<tr class="memdesc:a1998c46514f3f8d8d7665f6b505ca389 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">An input point cloud describing the surface that is to be used for nearest neighbors estimation. <br /></td></tr>
<tr class="separator:a1998c46514f3f8d8d7665f6b505ca389 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9bca452f3813c88d994dba18d4a7a1c8 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a9bca452f3813c88d994dba18d4a7a1c8"></a>
KdTreePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a9bca452f3813c88d994dba18d4a7a1c8">tree_</a></td></tr>
<tr class="memdesc:a9bca452f3813c88d994dba18d4a7a1c8 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the spatial search object. <br /></td></tr>
<tr class="separator:a9bca452f3813c88d994dba18d4a7a1c8 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a578368dcf8cacc6770aa5f7e7a306def inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a578368dcf8cacc6770aa5f7e7a306def"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a578368dcf8cacc6770aa5f7e7a306def">search_parameter_</a></td></tr>
<tr class="memdesc:a578368dcf8cacc6770aa5f7e7a306def inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The actual search parameter (casted from either <em>search_radius_</em> or <em>k_</em>). <br /></td></tr>
<tr class="separator:a578368dcf8cacc6770aa5f7e7a306def inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3bf7980bf7404eb9b5571afbbc2001f5 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a3bf7980bf7404eb9b5571afbbc2001f5"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a3bf7980bf7404eb9b5571afbbc2001f5">search_radius_</a></td></tr>
<tr class="memdesc:a3bf7980bf7404eb9b5571afbbc2001f5 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The nearest neighbors search radius for each point. <br /></td></tr>
<tr class="separator:a3bf7980bf7404eb9b5571afbbc2001f5 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a93359dca5b099e843c3cf0d0db1c59e1 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a93359dca5b099e843c3cf0d0db1c59e1"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a93359dca5b099e843c3cf0d0db1c59e1">k_</a></td></tr>
<tr class="memdesc:a93359dca5b099e843c3cf0d0db1c59e1 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The number of K nearest neighbors to use for each point. <br /></td></tr>
<tr class="separator:a93359dca5b099e843c3cf0d0db1c59e1 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abe8df9e1d66f449bc478cc06f062f209 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="abe8df9e1d66f449bc478cc06f062f209"></a>
pcl::PointIndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#abe8df9e1d66f449bc478cc06f062f209">keypoints_indices_</a></td></tr>
<tr class="memdesc:abe8df9e1d66f449bc478cc06f062f209 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indices of the keypoints in the input cloud. <br /></td></tr>
<tr class="separator:abe8df9e1d66f449bc478cc06f062f209 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
<tr class="separator:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
<tr class="separator:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ada1eadb824d34ca9206a86343d9760bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
<tr class="separator:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. <br /></td></tr>
<tr class="separator:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private 成员函数</h2></td></tr>
<tr class="memitem:a32e31fe63235c872c9f3f613ead1c249"><td class="memItemLeft" align="right" valign="top"><a id="a32e31fe63235c872c9f3f613ead1c249"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#a32e31fe63235c872c9f3f613ead1c249">greaterIntensityAtIndices</a> (int a, int b) const</td></tr>
<tr class="memdesc:a32e31fe63235c872c9f3f613ead1c249"><td class="mdescLeft">&#160;</td><td class="mdescRight">comparator for responses intensity <br /></td></tr>
<tr class="separator:a32e31fe63235c872c9f3f613ead1c249"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:a3fcac2b69f0b9f983b61bda2783d0237"><td class="memItemLeft" align="right" valign="top"><a id="a3fcac2b69f0b9f983b61bda2783d0237"></a>
Eigen::MatrixXf&#160;</td><td class="memItemRight" valign="bottom"><b>derivatives_rows_</b></td></tr>
<tr class="separator:a3fcac2b69f0b9f983b61bda2783d0237"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a48648726bd1fdc154185e0f5a9fc4c16"><td class="memItemLeft" align="right" valign="top"><a id="a48648726bd1fdc154185e0f5a9fc4c16"></a>
Eigen::MatrixXf&#160;</td><td class="memItemRight" valign="bottom"><b>derivatives_cols_</b></td></tr>
<tr class="separator:a48648726bd1fdc154185e0f5a9fc4c16"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a41ed4719c1edc36eb745eb36d53cfe2b"><td class="memItemLeft" align="right" valign="top"><a id="a41ed4719c1edc36eb745eb36d53cfe2b"></a>
boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointOutT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#a41ed4719c1edc36eb745eb36d53cfe2b">response_</a></td></tr>
<tr class="memdesc:a41ed4719c1edc36eb745eb36d53cfe2b"><td class="mdescLeft">&#160;</td><td class="mdescRight">intermediate holder for computed responses <br /></td></tr>
<tr class="separator:a41ed4719c1edc36eb745eb36d53cfe2b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2a4ef9889533b30d10d4fe6d19ac1da8"><td class="memItemLeft" align="right" valign="top"><a id="a2a4ef9889533b30d10d4fe6d19ac1da8"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#a2a4ef9889533b30d10d4fe6d19ac1da8">window_width_</a></td></tr>
<tr class="memdesc:a2a4ef9889533b30d10d4fe6d19ac1da8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Window width <br /></td></tr>
<tr class="separator:a2a4ef9889533b30d10d4fe6d19ac1da8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af28961911d79a0926a5fc1110c9d4d84"><td class="memItemLeft" align="right" valign="top"><a id="af28961911d79a0926a5fc1110c9d4d84"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#af28961911d79a0926a5fc1110c9d4d84">window_height_</a></td></tr>
<tr class="memdesc:af28961911d79a0926a5fc1110c9d4d84"><td class="mdescLeft">&#160;</td><td class="mdescRight">Window height <br /></td></tr>
<tr class="separator:af28961911d79a0926a5fc1110c9d4d84"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ade82ce5b91a06c645daad9d4bee8d2c6"><td class="memItemLeft" align="right" valign="top"><a id="ade82ce5b91a06c645daad9d4bee8d2c6"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#ade82ce5b91a06c645daad9d4bee8d2c6">half_window_width_</a></td></tr>
<tr class="memdesc:ade82ce5b91a06c645daad9d4bee8d2c6"><td class="mdescLeft">&#160;</td><td class="mdescRight">half window width <br /></td></tr>
<tr class="separator:ade82ce5b91a06c645daad9d4bee8d2c6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1c37b77666df155ddecfc0ea6b349b76"><td class="memItemLeft" align="right" valign="top"><a id="a1c37b77666df155ddecfc0ea6b349b76"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#a1c37b77666df155ddecfc0ea6b349b76">half_window_height_</a></td></tr>
<tr class="memdesc:a1c37b77666df155ddecfc0ea6b349b76"><td class="mdescLeft">&#160;</td><td class="mdescRight">half window height <br /></td></tr>
<tr class="separator:a1c37b77666df155ddecfc0ea6b349b76"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abe7421d10f31e7267e0601ffe83ee117"><td class="memItemLeft" align="right" valign="top"><a id="abe7421d10f31e7267e0601ffe83ee117"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#abe7421d10f31e7267e0601ffe83ee117">skipped_pixels_</a></td></tr>
<tr class="memdesc:abe7421d10f31e7267e0601ffe83ee117"><td class="mdescLeft">&#160;</td><td class="mdescRight">number of pixels to skip within search window <br /></td></tr>
<tr class="separator:abe7421d10f31e7267e0601ffe83ee117"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9da0b134f23866946aa95bcbdbc45680"><td class="memItemLeft" align="right" valign="top"><a id="a9da0b134f23866946aa95bcbdbc45680"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#a9da0b134f23866946aa95bcbdbc45680">min_distance_</a></td></tr>
<tr class="memdesc:a9da0b134f23866946aa95bcbdbc45680"><td class="mdescLeft">&#160;</td><td class="mdescRight">minimum distance between two keypoints <br /></td></tr>
<tr class="separator:a9da0b134f23866946aa95bcbdbc45680"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5992081715c2fdaca6fa0b2cfa2cc540"><td class="memItemLeft" align="right" valign="top"><a id="a5992081715c2fdaca6fa0b2cfa2cc540"></a>
IntensityT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a></td></tr>
<tr class="memdesc:a5992081715c2fdaca6fa0b2cfa2cc540"><td class="mdescLeft">&#160;</td><td class="mdescRight">intensity field accessor <br /></td></tr>
<tr class="separator:a5992081715c2fdaca6fa0b2cfa2cc540"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor&lt;PointInT&gt;&gt;<br />
class pcl::HarrisKeypoint2D&lt; PointInT, PointOutT, IntensityT &gt;</h3>

<p><a class="el" href="classpcl_1_1_harris_keypoint2_d.html" title="HarrisKeypoint2D detects Harris corners family points">HarrisKeypoint2D</a> detects Harris corners family points </p>
<dl class="section author"><dt>作者</dt><dd>Nizar Sallem </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="a253ac013906ccc19917d8bec63c3598b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a253ac013906ccc19917d8bec63c3598b">&#9670;&nbsp;</a></span>HarrisKeypoint2D()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename IntensityT  = pcl::common::IntensityFieldAccessor&lt;PointInT&gt;&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1_harris_keypoint2_d.html">pcl::HarrisKeypoint2D</a>&lt; PointInT, PointOutT, IntensityT &gt;::<a class="el" href="classpcl_1_1_harris_keypoint2_d.html">HarrisKeypoint2D</a> </td>
          <td>(</td>
          <td class="paramtype">ResponseMethod&#160;</td>
          <td class="paramname"><em>method</em> = <code>HARRIS</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>window_width</em> = <code>3</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>window_height</em> = <code>3</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>min_distance</em> = <code>5</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>threshold</em> = <code>0.0</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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</div><div class="memdoc">

<p>Constructor </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">method</td><td>the method to be used to determine the corner responses </td></tr>
    <tr><td class="paramdir"></td><td class="paramname">window_width</td><td></td></tr>
    <tr><td class="paramdir"></td><td class="paramname">window_height</td><td></td></tr>
    <tr><td class="paramdir"></td><td class="paramname">min_distance</td><td></td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">threshold</td><td>the threshold to filter out weak corners </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      : <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#ab69e5e33cfd310bc7df6b1d8f0669215">threshold_</a> (threshold)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      , <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#afd717f291207e72a70f0b40eb9efdb2e">refine_</a> (<span class="keyword">false</span>)</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      , <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#aae6c31094a9f3d5e3a2b0d5458b2694c">nonmax_</a> (<span class="keyword">true</span>)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      , <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a1f5da154b775b2d0c47a958f7847e0a1">method_</a> (method)</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      , <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a005f27db4a1f4f03d9606c87c4269ac6">threads_</a> (0)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      , <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a41ed4719c1edc36eb745eb36d53cfe2b">response_</a> (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> ())</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      , <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a2a4ef9889533b30d10d4fe6d19ac1da8">window_width_</a> (window_width)</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      , <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#af28961911d79a0926a5fc1110c9d4d84">window_height_</a> (window_height)</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      , <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#abe7421d10f31e7267e0601ffe83ee117">skipped_pixels_</a> (0)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      , <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a9da0b134f23866946aa95bcbdbc45680">min_distance_</a> (min_distance)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a> = <span class="stringliteral">&quot;HarrisKeypoint2D&quot;</span>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_a005f27db4a1f4f03d9606c87c4269ac6"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#a005f27db4a1f4f03d9606c87c4269ac6">pcl::HarrisKeypoint2D::threads_</a></div><div class="ttdeci">unsigned int threads_</div><div class="ttdoc">number of threads to be used</div><div class="ttdef"><b>Definition:</b> harris_2d.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_a1f5da154b775b2d0c47a958f7847e0a1"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#a1f5da154b775b2d0c47a958f7847e0a1">pcl::HarrisKeypoint2D::method_</a></div><div class="ttdeci">ResponseMethod method_</div><div class="ttdoc">cornerness computation methode</div><div class="ttdef"><b>Definition:</b> harris_2d.h:164</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_a2a4ef9889533b30d10d4fe6d19ac1da8"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#a2a4ef9889533b30d10d4fe6d19ac1da8">pcl::HarrisKeypoint2D::window_width_</a></div><div class="ttdeci">int window_width_</div><div class="ttdoc">Window width</div><div class="ttdef"><b>Definition:</b> harris_2d.h:180</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_a41ed4719c1edc36eb745eb36d53cfe2b"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#a41ed4719c1edc36eb745eb36d53cfe2b">pcl::HarrisKeypoint2D::response_</a></div><div class="ttdeci">boost::shared_ptr&lt; pcl::PointCloud&lt; PointOutT &gt; &gt; response_</div><div class="ttdoc">intermediate holder for computed responses</div><div class="ttdef"><b>Definition:</b> harris_2d.h:172</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_a9da0b134f23866946aa95bcbdbc45680"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#a9da0b134f23866946aa95bcbdbc45680">pcl::HarrisKeypoint2D::min_distance_</a></div><div class="ttdeci">int min_distance_</div><div class="ttdoc">minimum distance between two keypoints</div><div class="ttdef"><b>Definition:</b> harris_2d.h:190</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_aae6c31094a9f3d5e3a2b0d5458b2694c"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#aae6c31094a9f3d5e3a2b0d5458b2694c">pcl::HarrisKeypoint2D::nonmax_</a></div><div class="ttdeci">bool nonmax_</div><div class="ttdoc">non maximas suppression</div><div class="ttdef"><b>Definition:</b> harris_2d.h:162</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_ab69e5e33cfd310bc7df6b1d8f0669215"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#ab69e5e33cfd310bc7df6b1d8f0669215">pcl::HarrisKeypoint2D::threshold_</a></div><div class="ttdeci">float threshold_</div><div class="ttdoc">threshold for non maxima suppression</div><div class="ttdef"><b>Definition:</b> harris_2d.h:158</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_abe7421d10f31e7267e0601ffe83ee117"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#abe7421d10f31e7267e0601ffe83ee117">pcl::HarrisKeypoint2D::skipped_pixels_</a></div><div class="ttdeci">int skipped_pixels_</div><div class="ttdoc">number of pixels to skip within search window</div><div class="ttdef"><b>Definition:</b> harris_2d.h:188</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_af28961911d79a0926a5fc1110c9d4d84"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#af28961911d79a0926a5fc1110c9d4d84">pcl::HarrisKeypoint2D::window_height_</a></div><div class="ttdeci">int window_height_</div><div class="ttdoc">Window height</div><div class="ttdef"><b>Definition:</b> harris_2d.h:182</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_afd717f291207e72a70f0b40eb9efdb2e"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#afd717f291207e72a70f0b40eb9efdb2e">pcl::HarrisKeypoint2D::refine_</a></div><div class="ttdeci">bool refine_</div><div class="ttdoc">corner refinement</div><div class="ttdef"><b>Definition:</b> harris_2d.h:160</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_aef5710b81d66e6d429a9dfeb41d606ff"><div class="ttname"><a href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">pcl::Keypoint::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdoc">The key point detection method's name.</div><div class="ttdef"><b>Definition:</b> keypoint.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
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<h2 class="groupheader">成员函数说明</h2>
<a id="aaec7c58804fae6fd9fef784681bd1e25"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aaec7c58804fae6fd9fef784681bd1e25">&#9670;&nbsp;</a></span>detectKeypoints()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename IntensityT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_harris_keypoint2_d.html">pcl::HarrisKeypoint2D</a>&lt; PointInT, PointOutT, IntensityT &gt;::detectKeypoints </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;&#160;</td>
          <td class="paramname"><em>output</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
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</div><div class="memdoc">

<p>Abstract key point detection method. </p>
<p>!! nsallem 20120220 : we don't test here for density so if one term in nan the result is nan</p>

<p>实现了 <a class="el" href="classpcl_1_1_keypoint.html#abbe80461ac9e3bb7e355b4608d0b4674">pcl::Keypoint&lt; PointInT, PointOutT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;{</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  derivatives_cols_.resize (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;width, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;height);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  derivatives_rows_.resize (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;width, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;height);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="comment">//Compute cloud intensities first derivatives along columns and rows</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;<span class="comment"></span>  <span class="keywordtype">int</span> w = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;width) - 1;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="keywordtype">int</span> h = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;height) - 1;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <span class="comment">// j = 0 --&gt; j-1 out of range ; use 0</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="comment">// i = 0 --&gt; i-1 out of range ; use 0</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  derivatives_cols_(0,0) = (<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (0,1)) - <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (0,0))) * 0.5;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  derivatives_rows_(0,0) = (<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (1,0)) - <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (0,0))) * 0.5;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 1; i &lt; w; ++i)</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    {</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        derivatives_cols_(i,0) = (<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (i,1)) - <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (i,0))) * 0.5;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    }</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  derivatives_rows_(w,0) = (<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (w,0)) - <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (w-1,0))) * 0.5;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  derivatives_cols_(w,0) = (<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (w,1)) - <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (w,0))) * 0.5;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j = 1; j &lt; h; ++j)</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  {</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="comment">// i = 0 --&gt; i-1 out of range ; use 0</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        derivatives_rows_(0,j) = (<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (1,j)) - <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (0,j))) * 0.5;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 1; i &lt; w; ++i)</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    {</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <span class="comment">// derivative with respect to rows</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      derivatives_rows_(i,j) = (<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (i+1,j)) - <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (i-1,j))) * 0.5;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="comment">// derivative with respect to cols</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      derivatives_cols_(i,j) = (<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (i,j+1)) - <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (i,j-1))) * 0.5;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    }</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="comment">// i = w --&gt; w+1 out of range ; use w</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    derivatives_rows_(w,j) = (<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (w,j)) - <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (w-1,j))) * 0.5;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  }</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <span class="comment">// j = h --&gt; j+1 out of range use h</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  derivatives_cols_(0,h) = (<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (0,h)) - <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (0,h-1))) * 0.5;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  derivatives_rows_(0,h) = (<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (1,h)) - <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (0,h))) * 0.5;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 1; i &lt; w; ++i)</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    {</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    derivatives_cols_(i,h) = (<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (i,h)) - <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (i,h-1))) * 0.5;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    }</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  derivatives_rows_(w,h) = (<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (w,h)) - <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (w-1,h))) * 0.5;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  derivatives_cols_(w,h) = (<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (w,h)) - <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>) (w,h-1))) * 0.5;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  <span class="keywordflow">switch</span> (<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a1f5da154b775b2d0c47a958f7847e0a1">method_</a>)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  {</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    <span class="keywordflow">case</span> HARRIS:</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#aa5c0370a076cc2fd98a9df58fee1a2ad">responseHarris</a>(*<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a41ed4719c1edc36eb745eb36d53cfe2b">response_</a>);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keywordflow">case</span> NOBLE:</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      responseNoble(*<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a41ed4719c1edc36eb745eb36d53cfe2b">response_</a>);</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <span class="keywordflow">case</span> LOWE:</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      responseLowe(*<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a41ed4719c1edc36eb745eb36d53cfe2b">response_</a>);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <span class="keywordflow">case</span> TOMASI:</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      responseTomasi(*<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a41ed4719c1edc36eb745eb36d53cfe2b">response_</a>);</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  }</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#aae6c31094a9f3d5e3a2b0d5458b2694c">nonmax_</a>)</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  {</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    output = *<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a41ed4719c1edc36eb745eb36d53cfe2b">response_</a>;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a41ed4719c1edc36eb745eb36d53cfe2b">response_</a>-&gt;size (); ++i)</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <a class="code" href="classpcl_1_1_keypoint.html#abe8df9e1d66f449bc478cc06f062f209">keypoints_indices_</a>-&gt;indices.push_back (i);</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  }</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  {    </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    std::sort (<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;begin (), <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;end (), </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;               boost::bind (&amp;<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a32e31fe63235c872c9f3f613ead1c249">HarrisKeypoint2D::greaterIntensityAtIndices</a>, <span class="keyword">this</span>, _1, _2));</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    <span class="keywordtype">float</span> threshold = <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#ab69e5e33cfd310bc7df6b1d8f0669215">threshold_</a> * <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a41ed4719c1edc36eb745eb36d53cfe2b">response_</a>-&gt;points[<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;front ()].intensity;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    output.clear ();</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    output.reserve (<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a41ed4719c1edc36eb745eb36d53cfe2b">response_</a>-&gt;size());</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    std::vector&lt;bool&gt; occupency_map (<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a41ed4719c1edc36eb745eb36d53cfe2b">response_</a>-&gt;size (), <span class="keyword">false</span>);    </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    <span class="keywordtype">int</span> width (<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a41ed4719c1edc36eb745eb36d53cfe2b">response_</a>-&gt;width);</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <span class="keywordtype">int</span> height (<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a41ed4719c1edc36eb745eb36d53cfe2b">response_</a>-&gt;height);</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> occupency_map_size (occupency_map.size ());</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;<span class="preprocessor">#pragma omp parallel for shared (output, occupency_map) firstprivate (width, height) num_threads(threads_)</span></div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; occupency_map_size; ++i)</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    {</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      <span class="keywordtype">int</span> idx = <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;at (i);</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      <span class="keyword">const</span> PointOutT&amp; point_out = <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a41ed4719c1edc36eb745eb36d53cfe2b">response_</a>-&gt;points [idx];</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      <span class="keywordflow">if</span> (occupency_map[idx] || point_out.intensity &lt; threshold || !isFinite (point_out))</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;<span class="preprocessor">#pragma omp critical</span></div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      {</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        output.push_back (point_out);</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#abe8df9e1d66f449bc478cc06f062f209">keypoints_indices_</a>-&gt;indices.push_back (idx);</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      }</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;            <span class="keywordtype">int</span> u_end = std::min (width, idx % width + <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a9da0b134f23866946aa95bcbdbc45680">min_distance_</a>);</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;            <span class="keywordtype">int</span> v_end = std::min (height, idx / width + <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a9da0b134f23866946aa95bcbdbc45680">min_distance_</a>);</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <span class="keywordflow">for</span>(<span class="keywordtype">int</span> u = std::max (0, idx % width - <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a9da0b134f23866946aa95bcbdbc45680">min_distance_</a>); u &lt; u_end; ++u)</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">int</span> v = std::max (0, idx / width - <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a9da0b134f23866946aa95bcbdbc45680">min_distance_</a>); v &lt; v_end; ++v)</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;          occupency_map[v*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;width+u] = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    }</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    <span class="comment">// if (refine_)</span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    <span class="comment">//   refineCorners (output);</span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    output.height = 1;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    output.width = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (output.size());</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  }</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  <span class="comment">// we don not change the denseness</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  output.is_dense = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;is_dense;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_a32e31fe63235c872c9f3f613ead1c249"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#a32e31fe63235c872c9f3f613ead1c249">pcl::HarrisKeypoint2D::greaterIntensityAtIndices</a></div><div class="ttdeci">bool greaterIntensityAtIndices(int a, int b) const</div><div class="ttdoc">comparator for responses intensity</div><div class="ttdef"><b>Definition:</b> harris_2d.h:175</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_a5992081715c2fdaca6fa0b2cfa2cc540"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">pcl::HarrisKeypoint2D::intensity_</a></div><div class="ttdeci">IntensityT intensity_</div><div class="ttdoc">intensity field accessor</div><div class="ttdef"><b>Definition:</b> harris_2d.h:192</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_aa5c0370a076cc2fd98a9df58fee1a2ad"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#aa5c0370a076cc2fd98a9df58fee1a2ad">pcl::HarrisKeypoint2D::responseHarris</a></div><div class="ttdeci">void responseHarris(PointCloudOut &amp;output) const</div><div class="ttdoc">gets the corner response for valid input points</div><div class="ttdef"><b>Definition:</b> harris_2d.hpp:293</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_abe8df9e1d66f449bc478cc06f062f209"><div class="ttname"><a href="classpcl_1_1_keypoint.html#abe8df9e1d66f449bc478cc06f062f209">pcl::Keypoint::keypoints_indices_</a></div><div class="ttdeci">pcl::PointIndicesPtr keypoints_indices_</div><div class="ttdoc">Indices of the keypoints in the input cloud.</div><div class="ttdef"><b>Definition:</b> keypoint.h:197</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase&lt; PointInT &gt;::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_aaee847c8a517ebf365bad2cb182a6626"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">pcl::PCLBase&lt; PointInT &gt;::indices_</a></div><div class="ttdeci">IndicesPtr indices_</div><div class="ttdoc">A pointer to the vector of point indices to use.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:153</div></div>
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<a id="a91d7fef58256748302ba05a9e724ddf7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a91d7fef58256748302ba05a9e724ddf7">&#9670;&nbsp;</a></span>setMethod()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename IntensityT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_harris_keypoint2_d.html">pcl::HarrisKeypoint2D</a>&lt; PointInT, PointOutT, IntensityT &gt;::setMethod </td>
          <td>(</td>
          <td class="paramtype">ResponseMethod&#160;</td>
          <td class="paramname"><em>type</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>set the method of the response to be calculated. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">type</td><td></td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a1f5da154b775b2d0c47a958f7847e0a1">method_</a> = method;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a22dab1af5e082f9ac938ceb3ac90ac39">&#9670;&nbsp;</a></span>setNonMaxSupression()</h2>

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template&lt;typename PointInT , typename PointOutT , typename IntensityT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_harris_keypoint2_d.html">pcl::HarrisKeypoint2D</a>&lt; PointInT, PointOutT, IntensityT &gt;::setNonMaxSupression </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>nonmax</em> = <code>false</code></td><td>)</td>
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<p>whether non maxima suppression should be applied or the response for each point should be returned </p>
<dl class="section note"><dt>注解</dt><dd>this value needs to be turned on in order to apply thresholding and refinement </dd></dl>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">nonmax</td><td>default is false </td></tr>
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<div class="fragment"><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;{</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#aae6c31094a9f3d5e3a2b0d5458b2694c">nonmax_</a> = nonmax;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a09be8c7b4d38db15cf67dd1f22304c9e">&#9670;&nbsp;</a></span>setNumberOfThreads()</h2>

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template&lt;typename PointInT , typename PointOutT , typename IntensityT  = pcl::common::IntensityFieldAccessor&lt;PointInT&gt;&gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_harris_keypoint2_d.html">pcl::HarrisKeypoint2D</a>&lt; PointInT, PointOutT, IntensityT &gt;::setNumberOfThreads </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>nr_threads</em> = <code>0</code></td><td>)</td>
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<p>Initialize the scheduler and set the number of threads to use. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">nr_threads</td><td>the number of hardware threads to use (0 sets the value back to automatic) </td></tr>
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  </dd>
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<div class="fragment"><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;{ <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a005f27db4a1f4f03d9606c87c4269ac6">threads_</a> = nr_threads; }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a780a13a832c455e0f8e5d4c81df9bb0d">&#9670;&nbsp;</a></span>setRefine()</h2>

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template&lt;typename PointInT , typename PointOutT , typename IntensityT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_harris_keypoint2_d.html">pcl::HarrisKeypoint2D</a>&lt; PointInT, PointOutT, IntensityT &gt;::setRefine </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>do_refine</em></td><td>)</td>
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<p>whether the detected key points should be refined or not. If turned of, the key points are a subset of the original point cloud. Otherwise the key points may be arbitrary. </p>
<p>note non maxima supression needs to be on in order to use this feature. </p><dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">do_refine</td><td></td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;{</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#afd717f291207e72a70f0b40eb9efdb2e">refine_</a> = do_refine;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ac8c72d04eca58d9c035c735f556efcbb">&#9670;&nbsp;</a></span>setThreshold()</h2>

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template&lt;typename PointInT , typename PointOutT , typename IntensityT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_harris_keypoint2_d.html">pcl::HarrisKeypoint2D</a>&lt; PointInT, PointOutT, IntensityT &gt;::setThreshold </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>threshold</em></td><td>)</td>
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<p>set the threshold value for detecting corners. This is only evaluated if non maxima suppression is turned on. </p>
<p>note non maxima suppression needs to be activated in order to use this feature. </p><dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">threshold</td><td></td></tr>
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  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#ab69e5e33cfd310bc7df6b1d8f0669215">threshold_</a>= threshold;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;}</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>keypoints/include/pcl/keypoints/<a class="el" href="harris__2d_8h_source.html">harris_2d.h</a></li>
<li>keypoints/include/pcl/keypoints/impl/<a class="el" href="harris__2d_8hpp_source.html">harris_2d.hpp</a></li>
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